AP_Logger: pass mavlink_message_t by const reference

libraries/AP_Logger/AP_Logger.cpp

@@ -651,9 +651,9 @@ bool AP_Logger::logging_started(void) {
     return false;
 }
 
-void AP_Logger::handle_mavlink_msg(GCS_MAVLINK &link, mavlink_message_t* msg)
+void AP_Logger::handle_mavlink_msg(GCS_MAVLINK &link, const mavlink_message_t &msg)
 {
-    switch (msg->msgid) {
+    switch (msg.msgid) {
     case MAVLINK_MSG_ID_REMOTE_LOG_BLOCK_STATUS:
         FOR_EACH_BACKEND(remote_log_block_status_msg(link.get_chan(), msg));
         break;

libraries/AP_Logger/AP_Logger.h

@@ -303,7 +303,7 @@ public:
     void flush(void);
 #endif
 
-    void handle_mavlink_msg(class GCS_MAVLINK &, mavlink_message_t* msg);
+    void handle_mavlink_msg(class GCS_MAVLINK &, const mavlink_message_t &msg);
 
     void periodic_tasks(); // may want to split this into GCS/non-GCS duties
 
@@ -501,12 +501,12 @@ private:
     uint32_t _last_arming_failure_ms;
 
     bool should_handle_log_message();
-    void handle_log_message(class GCS_MAVLINK &, mavlink_message_t *msg);
+    void handle_log_message(class GCS_MAVLINK &, const mavlink_message_t &msg);
 
-    void handle_log_request_list(class GCS_MAVLINK &, mavlink_message_t *msg);
-    void handle_log_request_data(class GCS_MAVLINK &, mavlink_message_t *msg);
-    void handle_log_request_erase(class GCS_MAVLINK &, mavlink_message_t *msg);
-    void handle_log_request_end(class GCS_MAVLINK &, mavlink_message_t *msg);
+    void handle_log_request_list(class GCS_MAVLINK &, const mavlink_message_t &msg);
+    void handle_log_request_data(class GCS_MAVLINK &, const mavlink_message_t &msg);
+    void handle_log_request_erase(class GCS_MAVLINK &, const mavlink_message_t &msg);
+    void handle_log_request_end(class GCS_MAVLINK &, const mavlink_message_t &msg);
     void handle_log_send_listing(); // handle LISTING state
     void handle_log_sending(); // handle SENDING state
     bool handle_log_send_data(); // send data chunk to client

libraries/AP_Logger/AP_Logger_Backend.h

@@ -68,8 +68,8 @@ public:
 #endif
 
      // for Logger_MAVlink
-    virtual void remote_log_block_status_msg(mavlink_channel_t chan,
-                                             mavlink_message_t* msg) { }
+    virtual void remote_log_block_status_msg(const mavlink_channel_t chan,
+                                             const mavlink_message_t &msg) { }
     // end for Logger_MAVlink
 
    virtual void periodic_tasks();

libraries/AP_Logger/AP_Logger_MAVLink.cpp

@@ -222,8 +222,8 @@ void AP_Logger_MAVLink::stop_logging()
     }
 }
 
-void AP_Logger_MAVLink::handle_ack(mavlink_channel_t chan,
-                                   mavlink_message_t* msg,
+void AP_Logger_MAVLink::handle_ack(const mavlink_channel_t chan,
+                                   const mavlink_message_t &msg,
                                    uint32_t seqno)
 {
     if (!_initialised) {
@@ -245,8 +245,8 @@ void AP_Logger_MAVLink::handle_ack(mavlink_channel_t chan,
             // }
             stats_init();
             _sending_to_client = true;
-            _target_system_id = msg->sysid;
-            _target_component_id = msg->compid;
+            _target_system_id = msg.sysid;
+            _target_component_id = msg.compid;
             _chan = chan;
             _next_seq_num = 0;
             start_new_log_reset_variables();
@@ -268,11 +268,11 @@ void AP_Logger_MAVLink::handle_ack(mavlink_channel_t chan,
     }
 }
 
-void AP_Logger_MAVLink::remote_log_block_status_msg(mavlink_channel_t chan,
-                                                    mavlink_message_t* msg)
+void AP_Logger_MAVLink::remote_log_block_status_msg(const mavlink_channel_t chan,
+                                                    const mavlink_message_t& msg)
 {
     mavlink_remote_log_block_status_t packet;
-    mavlink_msg_remote_log_block_status_decode(msg, &packet);
+    mavlink_msg_remote_log_block_status_decode(&msg, &packet);
     if (!semaphore.take_nonblocking()) {
         return;
     }

libraries/AP_Logger/AP_Logger_MAVLink.h

@@ -61,7 +61,7 @@ public:
 
     void push_log_blocks() override;
 
-    void remote_log_block_status_msg(mavlink_channel_t chan, mavlink_message_t* msg) override;
+    void remote_log_block_status_msg(const mavlink_channel_t chan, const mavlink_message_t& msg) override;
 
 protected:
 
@@ -76,7 +76,7 @@ private:
         struct dm_block *next;
     };
     bool send_log_block(struct dm_block &block);
-    void handle_ack(mavlink_channel_t chan, mavlink_message_t* msg, uint32_t seqno);
+    void handle_ack(const mavlink_channel_t chan, const mavlink_message_t &msg, uint32_t seqno);
     void handle_retry(uint32_t block_num);
     void do_resends(uint32_t now);
     void free_all_blocks();

libraries/AP_Logger/AP_Logger_MAVLinkLogTransfer.cpp

@@ -40,12 +40,12 @@ bool AP_Logger::should_handle_log_message()
 /**
    handle all types of log download requests from the GCS
  */
-void AP_Logger::handle_log_message(GCS_MAVLINK &link, mavlink_message_t *msg)
+void AP_Logger::handle_log_message(GCS_MAVLINK &link, const mavlink_message_t &msg)
 {
     if (!should_handle_log_message()) {
         return;
     }
-    switch (msg->msgid) {
+    switch (msg.msgid) {
     case MAVLINK_MSG_ID_LOG_REQUEST_LIST:
         handle_log_request_list(link, msg);
         break;
@@ -64,7 +64,7 @@ void AP_Logger::handle_log_message(GCS_MAVLINK &link, mavlink_message_t *msg)
 /**
    handle all types of log download requests from the GCS
  */
-void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *msg)
+void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, const mavlink_message_t &msg)
 {
     WITH_SEMAPHORE(_log_send_sem);
 
@@ -74,7 +74,7 @@ void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *ms
     }
 
     mavlink_log_request_list_t packet;
-    mavlink_msg_log_request_list_decode(msg, &packet);
+    mavlink_msg_log_request_list_decode(&msg, &packet);
 
     _log_num_logs = get_num_logs();
     if (_log_num_logs == 0) {
@@ -102,7 +102,7 @@ void AP_Logger::handle_log_request_list(GCS_MAVLINK &link, mavlink_message_t *ms
 /**
    handle request for log data
  */
-void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *msg)
+void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, const mavlink_message_t &msg)
 {
     WITH_SEMAPHORE(_log_send_sem);
 
@@ -118,7 +118,7 @@ void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *ms
     }
 
     mavlink_log_request_data_t packet;
-    mavlink_msg_log_request_data_decode(msg, &packet);
+    mavlink_msg_log_request_data_decode(&msg, &packet);
 
     // consider opening or switching logs:
     if (transfer_activity != SENDING || _log_num_data != packet.id) {
@@ -158,10 +158,10 @@ void AP_Logger::handle_log_request_data(GCS_MAVLINK &link, mavlink_message_t *ms
 /**
    handle request to erase log data
  */
-void AP_Logger::handle_log_request_erase(GCS_MAVLINK &link, mavlink_message_t *msg)
+void AP_Logger::handle_log_request_erase(GCS_MAVLINK &link, const mavlink_message_t &msg)
 {
     // mavlink_log_erase_t packet;
-    // mavlink_msg_log_erase_decode(msg, &packet);
+    // mavlink_msg_log_erase_decode(&msg, &packet);
 
     EraseAll();
 }
@@ -169,11 +169,11 @@ void AP_Logger::handle_log_request_erase(GCS_MAVLINK &link, mavlink_message_t *m
 /**
    handle request to stop transfer and resume normal logging
  */
-void AP_Logger::handle_log_request_end(GCS_MAVLINK &link, mavlink_message_t *msg)
+void AP_Logger::handle_log_request_end(GCS_MAVLINK &link, const mavlink_message_t &msg)
 {
     WITH_SEMAPHORE(_log_send_sem);
     mavlink_log_request_end_t packet;
-    mavlink_msg_log_request_end_decode(msg, &packet);
+    mavlink_msg_log_request_end_decode(&msg, &packet);
 
     transfer_activity = IDLE;
     _log_sending_link = nullptr;